Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same

摘要

A laminated-type multi-joint portion drive mechanism includes a bone member having at least two elastic deformation portions, a laminated-type pneumatic tube member having at least two-line tubes which are stacked on the bone member and which are connected to a pneumatic drive source, and a planar-type joint-portion deformation member which is stacked on the laminated-type pneumatic tube member and which are placed at joint portions confronting the deformation portions, respectively, and which are connected to the tubes, in which when pneumatic pressure is applied to pneumatic operation chamber, the joint portion corresponding to the pneumatic operation chamber to which the pneumatic pressure is applied is deformable.